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Minor fixes and geom module documentation

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This commit is contained in:
Balakumar Sundaralingam
2024-08-05 21:52:45 -07:00
parent 3690d28c54
commit a027cbcf38
37 changed files with 2754 additions and 656 deletions
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70
tests/world_config_test.py
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@@ -34,9 +34,6 @@ def test_world_modify():
color=[0.8, 0.0, 0.0, 1.0],
)
# describe a mesh obstacle
# import a mesh file:
mesh_file = join_path(get_assets_path(), "scene/nvblox/srl_ur10_bins.obj")
obstacle_2 = Mesh(
@@ -170,3 +167,70 @@ def test_batch_collision():
)
assert d[0] == 0.2 and d[1] == 0.0
def test_world_modify_cpu():
tensor_args = TensorDeviceType()
obstacle_1 = Cuboid(
name="cube_1",
pose=[0.0, 0.0, 0.0, 0.043, -0.471, 0.284, 0.834],
dims=[0.2, 1.0, 0.2],
color=[0.8, 0.0, 0.0, 1.0],
)
mesh_file = join_path(get_assets_path(), "scene/nvblox/srl_ur10_bins.obj")
obstacle_2 = Mesh(
name="mesh_1",
pose=[0.0, 2, 0.5, 0.043, -0.471, 0.284, 0.834],
file_path=mesh_file,
scale=[0.5, 0.5, 0.5],
)
obstacle_3 = Capsule(
name="capsule",
radius=0.2,
base=[0, 0, 0],
tip=[0, 0, 0.5],
pose=[0.0, 5, 0.0, 0.043, -0.471, 0.284, 0.834],
# pose=[0.0, 5, 0.0, 1,0,0,0],
color=[0, 1.0, 0, 1.0],
)
obstacle_4 = Cylinder(
name="cylinder_1",
radius=0.2,
height=0.5,
pose=[0.0, 6, 0.0, 0.043, -0.471, 0.284, 0.834],
color=[0, 1.0, 0, 1.0],
)
obstacle_5 = Sphere(
name="sphere_1",
radius=0.2,
pose=[0.0, 7, 0.0, 0.043, -0.471, 0.284, 0.834],
color=[0, 1.0, 0, 1.0],
)
world_model = WorldConfig(
mesh=[obstacle_2],
cuboid=[obstacle_1],
capsule=[obstacle_3],
cylinder=[obstacle_4],
sphere=[obstacle_5],
)
world_model.randomize_color(r=[0.2, 0.7], g=[0.4, 0.8], b=[0.0, 0.4])
collision_support_world = WorldConfig.create_collision_support_world(world_model)
world_collision_config = WorldCollisionConfig(tensor_args, world_model=collision_support_world)
world_ccheck = WorldMeshCollision(world_collision_config)
world_ccheck.enable_obstacle("sphere_1", False)
w_pose = Pose.from_list([0, 0, 1, 1, 0, 0, 0], tensor_args)
world_ccheck.update_obstacle_pose(
name="cylinder_1", w_obj_pose=w_pose, update_cpu_reference=True
)
assert world_ccheck.world_model.get_obstacle("cylinder_1").pose[2] == 1